We also rely on access to human-annotated semantic information in 3D scenes. While this is standard practice for most approaches in ObjectNav [1]}, [2]}, [3]}, [4]}, alternative strategies exist for learning ObjectNav without access to any ground-truth semantic annotations in 3D scenes [5]}. Such self-supervised approaches have the potential to be more scalable than our supervised approach. However, to the best of our knowledge, there are no purely self-supervised methods that achieve state-of-the-art results for ObjectNav.
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